Howto Install and Configure ROS on Ubuntu

HowtoInstall and Configure ROS Groovy on Ubuntu

Followthe instruction http://www.ros.org/wiki/groovy/Installation/Ubuntuto install ROS Groovy:

1. Setupsources.list:

   $sudosh -c 'echo "deb http://packages.ros.org/ros/ubuntu precisemain" > /etc/apt/sources.list.d/ros-latest.list'

2. Setupkeys:

   $wgethttp://packages.ros.org/ros.key -O - | sudo apt-key add -

3. Installation:

   1. $sudoapt-get update

   2. $sudoapt-get install ros-groovy-desktop-full

4. Initializerosdep:

   1. $sudorosdep init

   2. $rosdepupdate

5. Environmentsetup:

   1. Addthe ROS environment variables to the bash session every time a newshell is launched:

      $echo"source /opt/ros/groovy/setup.bash" >> ~/.bashrc

   2. Resourceto enable ros environment variables:

      $source~/.bashrc

   3. Checkthe ros environment variable to test the installation:

      $echo$ROS_DISTRO

      $export| grep ROS

      You will getsomething like:

      declare-x ROS_DISTRO="groovy"

      declare-x ROS_ETC_DIR="/opt/ros/groovy/etc/ros"

      declare-x ROS_MASTER_URI="http://localhost:11311"

      declare-x ROS_PACKAGE_PATH="/opt/ros/groovy/share:/opt/ros/groovy/stacks"

      declare-x ROS_ROOT="/opt/ros/groovy/share/ros"

      Everytime a new shell is launched, the environment variables will beloaded automatically.

6. Getrosinstall:

   $sudoapt-get install python-rosinstall

Followthe instructionhttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentto configure ros environment:

1. Createa ROS Workspace:

   1. Createdirectories:

      $mkdir-p /program/ros_workspace/src

   2. Initializethe workspace:

      $cd/program/ros_workspace/src

      $catkin_init_workspace

      thiscommand will create one CMakeList.txt link;

   3. Buildthe workspace:

      $cd/program/ros_workspace

      $catkin_make

      thiscommand will create another two folders build and devel in theworkspace, refer tohttp://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironmentfor detailed information about these folders.

2. Changethe source command in ~/.bashrc:

   $gedit~/.bashrc

   Commentthe last line with '#',add new source and save the file. That is,changing the last part of ~/.bashrc into:

   #source/opt/ros/groovy/setup.bash

   source/program/ros_workspace/devel/setup.bash

   Byadding this line, every time you start a new shell, it willautomatically load ros environment variables. And roscd willdirectly take you to /program/ros_workspace/devel.